CN109903324B - Depth image acquisition method and device - Google Patents
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- CN109903324B CN109903324B CN201910275777.1A CN201910275777A CN109903324B CN 109903324 B CN109903324 B CN 109903324B CN 201910275777 A CN201910275777 A CN 201910275777A CN 109903324 B CN109903324 B CN 109903324B
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Abstract
The invention provides a depth image acquisition method and a depth image acquisition device, which belong to the technical field of depth detection, wherein the depth image acquisition method comprises the following steps: acquiring at least one frame of original image for generating a depth image of a current frame at an acquisition stage after a target object has been detected from the acquired original image; and determining the exposure time of the original image for generating the depth image of the next frame according to the at least one frame of original image and the exposure time thereof. The invention can avoid the problems of over exposure in a short distance (the target object is close to the detection module) and under exposure in a long distance (the target object principle detection module) when detecting the moving target object.
Description
Technical Field
The invention relates to the technical field of depth detection, in particular to a depth image acquisition method and device.
Background
With the development of 3D (3 Dimensions) technology, the technical applications in the fields of stereoscopic display, machine vision, and satellite remote sensing increasingly require acquiring depth information of a scene. Currently, depth cameras are capable of acquiring depth information for a target object within the camera's field of view.
In the current depth detection scheme, whether the current depth detection scheme is based on a TOF (Time Of Flight) technology, a structured light technology or an active binocular vision technology, the current depth detection scheme is a hardware implementation framework Of an active infrared light source + an Image Sensor (Image Sensor), and in this way, if a fixed exposure Time is adopted, when a moving object is detected, the problems Of insufficient exposure when the target object is far away and excessive exposure when the target object is near away exist. Taking an active depth detection scheme based on TOF technology as an example, a basic structure of a depth detection module of the active depth detection scheme is shown in fig. 1, and includes an active (infrared) light source 1, an (infrared) image Sensor (Sensor)2, and a lens group 3. The active light source 1 provides necessary illumination for the exposure stage of the depth detection module, the image sensor 2 generates an original image of depth information, and the lens assembly 3 ensures a good light path to obtain a clear image. When detecting the depth information of a target (to be detected) object placed in front of the detection module, when the target object is at the position P0, exposure is performed for the exposure time T, so that clear image data can be obtained, but if exposure is still performed for the exposure time T when the target object moves to the position P1 which is closer to the detection module, excessive reflected light is received, so that the light received by the infrared image sensor is too strong (overexposure), and in addition, when the target object moves to the position P2 which is farther from the detection module, exposure is still performed for the exposure time T, so that the infrared image sensor is insufficiently exposed (underexposure). Whether overexposure or underexposure is adopted, effective image data cannot be obtained, and further, depth information of the target object cannot be accurately obtained.
Disclosure of Invention
In view of the above, the present invention provides a method and an apparatus for obtaining a depth image, which are used to solve the problem that in the current depth detection scheme using a fixed exposure time, when a moving target object is far away, underexposure is easily caused, and when the target object is close, overexposure is easily caused, and thus depth information of the target object cannot be accurately obtained.
In order to solve the above technical problem, in a first aspect, the present invention provides a depth image obtaining method, including:
acquiring at least one frame of original image for generating a depth image of a current frame at an acquisition stage after a target object has been detected from the acquired original image;
and determining the exposure time of the original image for generating the depth image of the next frame according to the at least one frame of original image and the exposure time thereof.
Preferably, the step of determining the exposure time of the original image for generating the depth image of the next frame according to the at least one original image of the frame and the exposure time thereof comprises:
acquiring the amplitude value of the target object in the at least one frame of original image;
and determining the exposure time of the original image for generating the next frame of depth image according to the amplitude value of the target object and the exposure time of the at least one frame of original image.
Preferably, the amplitude value of the target object is an amplitude average value of the target object in the at least one original image.
Preferably, the step of acquiring the amplitude value of the target object in the at least one original image includes:
acquiring an amplitude value of the at least one frame of original image;
and segmenting the amplitude value of the at least one frame of original image to determine the target object.
Preferably, before the step of obtaining at least one original image used for generating the current frame depth image, the method further includes:
an initialization stage of detecting the target object from the acquired original image, and acquiring the original image based on a preset frame rate and preset exposure time;
detecting the target object according to the acquired original image;
under the condition that the target object is detected, taking the preset exposure time as the exposure time of an original image used for generating a first frame depth image in the acquisition stage;
and under the condition that the target object cannot be detected, adjusting the preset exposure time until the target object is detected according to the acquired original image, and taking the adjusted preset exposure time as the exposure time of the original image for generating the first frame depth image after the acquisition stage is started.
Preferably, the at least one frame of original image is at least two frames.
Preferably, the at least one frame of original image is a partial image used for generating a current frame depth image.
In a second aspect, the present invention further provides a depth image acquiring apparatus, including:
the image acquisition module is used for acquiring at least one frame of original image used for generating a depth image of a current frame in an acquisition stage after a target object is detected from the acquired original image;
and the exposure time adjusting module is used for determining the exposure time of the original image used for generating the next frame of depth image according to the at least one frame of original image and the exposure time thereof.
Preferably, the exposure time adjusting module includes:
the amplitude value acquisition unit is used for acquiring the amplitude value of the target object in the at least one frame of original image;
and the adjusting unit is used for determining the exposure time of the original image used for generating the next frame of depth image according to the amplitude value of the target object and the exposure time of the at least one frame of original image.
Preferably, the amplitude value of the target object is an amplitude average value of the target object in the at least one original image.
Preferably, the amplitude value acquisition unit includes:
the acquiring subunit is used for acquiring the amplitude value of the at least one frame of original image;
and the determining subunit is used for segmenting the amplitude value of the at least one frame of original image and determining the target object.
Preferably, the apparatus further comprises:
the target detection image acquisition module is used for detecting an initialization stage of a target object in an acquired original image, and acquiring the original image based on a preset frame rate and preset exposure time;
the detection module is used for detecting the target object according to the acquired original image;
the exposure time determining module is used for taking the preset exposure time as the exposure time of an original image used for generating a first frame depth image in the acquisition stage under the condition that the target object is detected; and under the condition that the target object cannot be detected, adjusting the preset exposure time until the target object is detected according to the acquired original image, and taking the adjusted preset exposure time as the exposure time of the original image for generating the first frame depth image after the acquisition stage is started.
Preferably, the at least one frame of original image is at least two frames.
Preferably, the at least one frame of original image is a partial image used for generating a current frame depth image.
In a third aspect, the present invention further provides a depth image acquiring apparatus, including a memory, a processor, and a computer program stored in the memory and executable on the processor; the processor implements any of the above depth image acquisition methods when executing the computer program.
In a fourth aspect, the present invention also provides a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of any one of the depth image acquisition methods described above.
The technical scheme of the invention has the following beneficial effects:
in the embodiment of the invention, the exposure time required for acquiring the original image of the next frame of depth image can be quickly calculated and predicted according to the original image used for generating the current frame of depth image, so that the problems of over exposure at a short distance (when the target object is close to the detection module) and under exposure at a long distance (when the target object principle detection module) when a moving target object is detected are solved. In addition, when the technical scheme of the invention is implemented, the frame rate of the depth image cannot be reduced, and no hardware module is required to be additionally added, so that the cost is low. The embodiment of the invention can be applied to a new man-machine interaction technology, namely gesture interaction, after a mouse, a keyboard and a touch screen.
Drawings
FIG. 1 is a schematic diagram of a basic structure of a conventional depth detection technique;
FIG. 2 is a schematic diagram of an original image acquisition timing sequence when a depth image is calculated from four frames of original images;
FIG. 3 is a schematic flow chart of the cyclic correction of exposure time;
FIG. 4 is a timing diagram of depth image acquisition during cyclic correction of exposure time;
FIG. 5 is a schematic diagram of adjusting exposure time by adding a detection module;
fig. 6 is a schematic flowchart of a depth image obtaining method according to an embodiment of the present invention;
FIG. 7 is a flowchart illustrating initialization of target capture according to an embodiment of the invention;
FIG. 8 is a schematic flow chart illustrating another depth image acquisition method according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a principle of a depth image obtaining method according to an embodiment of the present invention;
fig. 10 is a schematic timing diagram of a working sequence of the depth image obtaining method according to the embodiment of the present invention;
fig. 11 is a schematic structural diagram of a depth image obtaining apparatus according to an embodiment of the present invention;
fig. 12 is a schematic structural diagram of another depth image acquiring apparatus in an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention, are within the scope of the invention.
First, taking an active depth detection scheme based on the TOF technique (please refer to fig. 1) as an example, the process of acquiring a depth image is briefly described. Depth images based on TOF technology are generally calculated from data of a plurality of original images, such as two frames and four frames, wherein the depth image is most commonly calculated from four original images. Referring to fig. 2, a schematic diagram of an original image acquisition timing sequence when a depth image is calculated from four frames of original images is shown, in the timing sequence, stage 1 is an exposure and charge accumulation stage, a processor (i.e., a control and calculation unit) sends a driving signal to drive an active light source to emit infrared light of a specific frequency to illuminate a target object, and at the same time, the processor drives an infrared image Sensor with demodulation signals having a difference of 0 ° (DCS0), 90 ° (DCS1), 180 ° (DCS2), and 270 ° (DCS3) from the driving signal, respectively, and photoelectrically converts and accumulates a received light signal in an integration capacitor of a Sensor pixel (Sensor pixel). The stage 2 is an AD conversion (i.e., analog-to-digital conversion) and data readout stage, in which an analog front end in a pixel circuit of the infrared image sensor converts a charge signal in an integrating capacitor of each pixel into corresponding digital signals and outputs the digital signals one by one to obtain four frames of original image data corresponding to DCS0, DCS1, DCS2, and DCS3, and then, through calculation, one frame of depth image data is obtained from the four frames of original image data. And then, the operation is circulated to obtain the depth image of the next frame.
Then, when a depth detection scheme with fixed exposure time is adopted to detect a moving target object, due to the fact that distance change of the target object causes underexposure or overexposure, the problem that depth information of the target object cannot be accurately acquired is caused, and the following two feasible solutions are available:
firstly, when detecting that the image is overexposed or underexposed, adjusting the exposure time in a mode of circularly correcting the exposure time to ensure the acquisition of the depth image. Referring to fig. 3, taking the depth image obtaining method based on the TOF technique (calculating a depth image according to four frames of original images) as an example, the process of cyclically correcting the exposure time includes: step 01, exposure is carried out according to the preset exposure time T; step 02, judging whether the acquired four-frame original image has overexposure or underexposure, if so, entering step 031, otherwise, entering step 032; a 031 step of decreasing the exposure time if there is overexposure and increasing the exposure time if there is underexposure; 032, calculating to obtain a depth image according to the obtained four frames of original images; and step 04, carrying out exposure according to the exposure time T' after the exposure time is reduced or increased, and turning to step 02. When the method is used for the depth detection of a short distance (the maximum distance between the target object and the detection module is relatively close), the exposure time is generally far shorter than the AD conversion time and the data reading time, and the frame periods before and after the exposure time is adjusted are basically equal, so the time sequence of the acquisition of the depth image frames can be seen in FIG. 4. As can be seen from fig. 4, after underexposure or overexposure is caused by a distance change of the target object, the exposure time adjustment stage is started, and the depth image cannot be normally acquired until a reasonable exposure time is found. That is, there is no way to normally acquire a depth image in the exposure time adjustment stage, resulting in a drop in frame rate. Moreover, for a target object with a relatively fast moving speed, such as a human hand doing various gestures, this cyclic correction of the exposure time may result in a continuous decrease of the frame rate, and even (for example, in a case where the depth range of the target object is still greatly changed) the exposure time may still be in the exposure time adjustment phase and not return to the normal depth image acquisition phase.
And secondly, adding an additional detection module. Specifically, referring to fig. 5, the detection module 1 is used to collect a depth image, and the detection module 2 is used to adjust the exposure time. And the exposure time required by the detection module 1 when acquiring the original image of the next frame depth image is determined by the detection module 2 in a cyclic adjustment mode during the acquisition of the original image of the current frame depth image. However, this solution requires an additional set of detection modules, which increases the cost greatly.
Referring to fig. 6, fig. 6 is a schematic flowchart of a depth image obtaining method according to an embodiment of the present invention, including the following steps:
step 11: acquiring at least one frame of original image for generating a depth image of a current frame at an acquisition stage after a target object has been detected from the acquired original image;
step 12: and determining the exposure time of the original image for generating the depth image of the next frame according to the at least one frame of original image and the exposure time thereof.
According to the embodiment of the invention, the exposure time required for acquiring the original image of the next frame of depth image can be quickly calculated and predicted according to the original image used for generating the current frame of depth image, so that the problems of over exposure at a short distance (when the target object is close to the detection module) and under exposure at a long distance (when the target object principle detection module) during detection of a moving target object are solved. In addition, when the technical scheme of the invention is implemented, the frame rate of the depth image cannot be reduced, and no hardware module is required to be additionally added, so that the cost is low.
It should be noted that the embodiment of the present invention can be applied to a new human-computer interaction technology, namely, gesture interaction, after a mouse, a keyboard, and a touch screen.
The above-described depth image acquisition method is exemplified below.
Optionally, the step of determining, according to the at least one frame of original image and the exposure time thereof, the exposure time of the original image used for generating the depth image of the next frame includes:
acquiring the amplitude value of the target object in the at least one frame of original image;
and determining the exposure time of the original image for generating the next frame of depth image according to the amplitude value of the target object and the exposure time of the at least one frame of original image.
Further optionally, the amplitude value of the target object is an amplitude average value of the target object in the at least one original image.
Further optionally, the step of acquiring the amplitude value of the target object in the at least one original image includes:
acquiring an amplitude value of the at least one frame of original image;
and segmenting the amplitude value of the at least one frame of original image to determine the target object.
Optionally, before the step of obtaining at least one original image used for generating the current frame depth image, the method further includes:
an initialization stage of detecting the target object from the acquired original image, and acquiring the original image based on a preset frame rate and preset exposure time;
detecting the target object according to the acquired original image;
under the condition that the target object is detected, taking the preset exposure time as the exposure time of an original image used for generating a first frame depth image in the acquisition stage;
and under the condition that the target object cannot be detected, adjusting the preset exposure time until the target object is detected according to the acquired original image, and taking the adjusted preset exposure time as the exposure time of the original image for generating the first frame depth image after the acquisition stage is started.
Since the target object may not be detected immediately when the detection module starts to operate, the initialization of target capture needs to be completed first, that is, the target needs to be found first. In the embodiment of the present invention, a binning mode (an image reading mode in which charges induced by adjacent pixels are added together and read out in a one-pixel mode) may be adopted, and the frame rate of the mode is high, so that a target object can be quickly found, and thus the current optimal exposure time can be determined. Referring to fig. 7, the specific process is as follows:
And step 22, detecting a target object from the acquired original image (namely, quickly searching the target object by using an algorithm), executing step 24 if the target object is detected, and executing step 23 if the target object is not detected.
And step 25, switching to a normal exposure mode, namely entering the initialization stage, and taking the exposure time A' as the initial exposure time after entering the initialization stage, namely the exposure time of the original image used for generating the first frame depth image.
In addition, in the embodiment of the invention, each time one frame of original image is acquired, whether the original image is underexposed or overexposed is judged according to the amplitude value of the original image. Generally, the original image acquired by the depth image acquiring method provided by the embodiment of the invention does not have the condition of underexposure or overexposure, and if the condition of underexposure or overexposure occurs, the target is lost probably because the target object goes out of the detectable area, so that the initialization process of target capture needs to be executed again.
Optionally, the at least one frame of original image is at least two frames, which can increase the accuracy of predicting the exposure time of the original image of the depth image of the next frame.
Optionally, the at least one original frame image is a partial image used for generating a depth image of the current frame. That is, after the partial image used for generating the depth image of the current frame is acquired, the exposure time of the original image of the depth image of the next frame can be calculated. The prediction of the exposure time may be done before another partial image for generating the depth image of the current frame is acquired. Therefore, additional time is not consumed, and thus the frame rate may not be lowered.
The embodiment of the invention is particularly suitable for the situations that the frame rate of the depth image is high and the size of the target object is small, such as a gesture detection scene.
As shown in fig. 8, a process of the depth image obtaining method provided by the embodiment of the present invention is specifically described below by taking a manner of obtaining a depth image of one frame by calculation according to four original images as an example:
and step 31, acquiring two currently acquired original images, such as DCS0 and DCS1, wherein DCS2 and DCS3 are not acquired yet. Of course, the original images may be acquired after the DCS3 is acquired, and the acquired original images may be DCS1 and DCS2, or DCS0, DCS1 and DCS 2.
And step 32, respectively calculating amplitude values of the two frames of original images, and dividing the amplitude values to determine the target object in the two frames of original images.
And step 33, respectively calculating the amplitude average value of the target object in the two frames of original images, and calculating the optimal exposure time of the two frames of original images by combining the exposure time of the two frames of original images, wherein the calculated optimal exposure time can be used as the exposure time of the original image of the depth image of the next frame because the frame interval is generally short. Of course, the calculated optimal exposure time may also be corrected according to the motion trend of the target object, and the corrected exposure time may be used as the exposure time of the original image of the depth image of the next frame.
And step 34, waiting for the detection module to finish collecting all the original images used for calculating the depth image of the current frame, and outputting the calculated exposure time of the original image of the depth image of the next frame.
Fig. 9 is a schematic structural diagram of a principle of the depth image obtaining method according to the embodiment of the present invention, in which an adjusting module (software) for adjusting exposure time is added in addition to a depth converting and recognizing module (software) for obtaining a depth image in a processor, and after two frames of original images (only by way of example and in an unlimited number) of a depth image of a current frame are obtained, an amplitude value of a target object can be calculated by using the two frames of original images, and then the exposure time of an original image of a depth image of a next frame can be calculated by using the amplitude value and the current exposure time.
Fig. 10 is a schematic diagram of a working timing sequence of the depth image obtaining method according to the embodiment of the present invention, and after entering the acquisition stage in which the target object is detected from the acquired original images, four frames of original images (DCS0, DCS1, DCS2, and DCS3) are acquired and calculated to obtain the depth image frame 1. Meanwhile, after two frames of original images (DCS0 and DCS1) are acquired, the adjusting module (software) starts to calculate amplitude values according to the two frames of original images, and calculates the exposure time (i.e., the predicted exposure time) of the original image of the next frame of depth image according to the calculated amplitude values and the current exposure time. The calculation of the exposure time of the original image of the depth image of the next frame and the acquisition of the original images of the remaining two frames can be completed simultaneously, so that the frame rate of the depth image is not reduced.
Referring to fig. 11, fig. 11 is a schematic structural diagram of a depth image obtaining apparatus according to an embodiment of the present invention, where the apparatus includes:
an image acquisition module 51, configured to acquire at least one frame of original image used for generating a depth image of a current frame in an acquisition stage after a target object has been detected from the acquired original image;
and an exposure time adjusting module 52, configured to determine, according to the at least one frame of original image and the exposure time thereof, an exposure time of an original image used for generating a depth image of a next frame.
In the embodiment of the invention, the exposure time required for acquiring the original image of the next frame of depth image can be quickly calculated and predicted according to the original image used for generating the current frame of depth image, so that the problems of over exposure at a short distance (when the target object is close to the detection module) and under exposure at a long distance (when the target object principle detection module) when a moving target object is detected are solved. In addition, when the technical scheme of the invention is implemented, the frame rate of the depth image cannot be reduced, and no hardware module is required to be additionally added, so that the cost is low. The embodiment of the invention can be applied to a new man-machine interaction technology, namely gesture interaction, after a mouse, a keyboard and a touch screen.
Optionally, the exposure time adjusting module 52 includes:
the amplitude value acquisition unit is used for acquiring the amplitude value of the target object in the at least one frame of original image;
and the adjusting unit is used for determining the exposure time of the original image used for generating the next frame of depth image according to the amplitude value of the target object and the exposure time of the at least one frame of original image.
Optionally, the amplitude value of the target object is an amplitude average value of the target object in the at least one frame of original image.
Optionally, the amplitude value obtaining unit includes:
the acquiring subunit is used for acquiring the amplitude value of the at least one frame of original image;
and the determining subunit is used for segmenting the amplitude value of the at least one frame of original image and determining the target object.
Optionally, the apparatus further comprises:
the target detection image acquisition module is used for detecting an initialization stage of a target object in an acquired original image, and acquiring the original image based on a preset frame rate and preset exposure time;
the detection module is used for detecting the target object according to the acquired original image;
the exposure time determining module is used for taking the preset exposure time as the exposure time of an original image used for generating a first frame depth image in the acquisition stage under the condition that the target object is detected; and under the condition that the target object cannot be detected, adjusting the preset exposure time until the target object is detected according to the acquired original image, and taking the adjusted preset exposure time as the exposure time of the original image for generating the first frame depth image after the acquisition stage is started.
Optionally, the at least one frame of original image is at least two frames.
Optionally, the at least one original frame image is a partial image used for generating a depth image of the current frame.
The embodiments of the present invention are product embodiments corresponding to the above method embodiments, and therefore, detailed description is omitted here, and refer to the above embodiments in detail.
Referring to fig. 12, fig. 12 is a schematic structural diagram of another depth image acquiring apparatus according to an embodiment of the present invention, where the depth image acquiring apparatus 6 includes a processor 61, a memory 62, and a computer program stored in the memory 62 and capable of running on the processor 61; the processor 61, when executing the computer program, performs the following steps:
acquiring at least one frame of original image for generating a depth image of a current frame at an acquisition stage after a target object has been detected from the acquired original image;
and determining the exposure time of the original image for generating the depth image of the next frame according to the at least one frame of original image and the exposure time thereof.
In the embodiment of the invention, the exposure time required for acquiring the original image of the next frame of depth image can be quickly calculated and predicted according to the original image used for generating the current frame of depth image, so that the problems of over exposure at a short distance (when the target object is close to the detection module) and under exposure at a long distance (when the target object principle detection module) when a moving target object is detected are solved. In addition, when the technical scheme of the invention is implemented, the frame rate of the depth image cannot be reduced, and no hardware module is required to be additionally added, so that the cost is low. The embodiment of the invention can be applied to a new man-machine interaction technology, namely gesture interaction, after a mouse, a keyboard and a touch screen.
Optionally, the processor 61 may further implement the following steps when executing the computer program:
the step of determining the exposure time of the original image for generating the depth image of the next frame according to the at least one original image of the frame and the exposure time thereof comprises:
acquiring the amplitude value of the target object in the at least one frame of original image;
and determining the exposure time of the original image for generating the next frame of depth image according to the amplitude value of the target object and the exposure time of the at least one frame of original image.
Optionally, the amplitude value of the target object is an amplitude average value of the target object in the at least one frame of original image.
Optionally, the processor 61 may further implement the following steps when executing the computer program:
the step of acquiring the amplitude value of the target object in the at least one original frame of image comprises:
acquiring an amplitude value of the at least one frame of original image;
and segmenting the amplitude value of the at least one frame of original image to determine the target object.
Optionally, the processor 61 may further implement the following steps when executing the computer program:
before the step of obtaining at least one original image for generating the current frame depth image, the method further includes:
an initialization stage of detecting the target object from the acquired original image, and acquiring the original image based on a preset frame rate and preset exposure time;
detecting the target object according to the acquired original image;
under the condition that the target object is detected, taking the preset exposure time as the exposure time of an original image used for generating a first frame depth image in the acquisition stage;
and under the condition that the target object cannot be detected, adjusting the preset exposure time until the target object is detected according to the acquired original image, and taking the adjusted preset exposure time as the exposure time of the original image for generating the first frame depth image after the acquisition stage is started.
Optionally, the at least one frame of original image is at least two frames.
Optionally, the at least one original frame image is a partial image used for generating a depth image of the current frame.
The specific working process of the embodiment of the present invention is the same as that of the above method embodiment, and therefore, the detailed description thereof is omitted, and please refer to the description of the method steps in the above embodiment in detail.
Embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps in any one of the depth image obtaining methods in the above-mentioned method embodiments. Please refer to the above description of the method steps in the corresponding embodiments.
The computer-readable storage media described above, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. A depth image acquisition method is used for gesture detection;
the method comprises the following steps:
in the acquisition stage after a target object is detected from the acquired original image, acquiring at least one frame of original image for generating a current frame depth image, wherein the at least one frame of original image is a partial image for generating the current frame depth image;
and determining the exposure time of the original image used for generating the next frame depth image according to the at least one frame original image and the exposure time thereof, and finishing the calculation of the exposure time of the original image of the next frame depth image before all the original images of the current frame depth image are obtained by calculation.
2. The method according to claim 1, wherein the step of determining an exposure time of an original image for generating a next frame depth image based on the at least one frame original image and the exposure time thereof comprises:
acquiring the amplitude value of the target object in the at least one frame of original image;
and determining the exposure time of the original image for generating the next frame of depth image according to the amplitude value of the target object and the exposure time of the at least one frame of original image.
3. The depth image obtaining method according to claim 2, wherein the amplitude value of the target object is an amplitude average value of the target object in the at least one original frame image.
4. The depth image obtaining method according to claim 2, wherein the step of obtaining the amplitude value of the target object in the at least one original image includes:
acquiring an amplitude value of the at least one frame of original image;
and segmenting the amplitude value of the at least one frame of original image to determine the target object.
5. The method of claim 1, wherein the step of obtaining at least one original image for generating the current frame depth image is preceded by the step of:
an initialization stage of detecting the target object from the acquired original image, and acquiring the original image based on a preset frame rate and preset exposure time;
detecting the target object according to the acquired original image;
under the condition that the target object is detected, taking the preset exposure time as the exposure time of an original image used for generating a first frame depth image in the acquisition stage;
and under the condition that the target object cannot be detected, adjusting the preset exposure time until the target object is detected according to the acquired original image, and taking the adjusted preset exposure time as the exposure time of the original image for generating the first frame depth image after the acquisition stage is started.
6. The method according to claim 1 or 2, wherein the at least one frame of original image is at least two frames.
7. The depth image acquisition device is used for gesture detection;
the device comprises:
the image acquisition module is used for acquiring at least one frame of original image used for generating a current frame depth image in an acquisition stage after a target object is detected from the acquired original image, wherein the at least one frame of original image is a partial image used for generating the current frame depth image;
and the exposure time adjusting module is used for determining the exposure time of the original image used for generating the next frame of depth image according to the at least one frame of original image and the exposure time thereof, and completing the calculation of the exposure time of the original image of the next frame of depth image before all the original images of the current frame of depth image are obtained through calculation.
8. The depth image capturing apparatus according to claim 7, wherein the exposure time adjustment module includes:
the amplitude value acquisition unit is used for acquiring the amplitude value of the target object in the at least one frame of original image;
and the adjusting unit is used for determining the exposure time of the original image used for generating the next frame of depth image according to the amplitude value of the target object and the exposure time of the at least one frame of original image.
9. The depth image acquisition apparatus according to claim 8, wherein the amplitude value acquisition unit includes:
the acquiring subunit is used for acquiring the amplitude value of the at least one frame of original image;
and the determining subunit is used for segmenting the amplitude value of the at least one frame of original image and determining the target object.
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| CN112584055A (en) * | 2019-09-29 | 2021-03-30 | 深圳市光鉴科技有限公司 | Brightness self-adaptive adjusting method, system, equipment and medium based on image coding |
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| CN111652099A (en) * | 2020-05-25 | 2020-09-11 | Tcl通力电子（惠州）有限公司 | Gesture recognition method, device, equipment and storage medium |
| CN112040139B (en) * | 2020-09-09 | 2022-07-29 | 绍兴埃瓦科技有限公司 | Light supplementing method for camera imaging |
| CN112672067B (en) * | 2020-12-17 | 2022-11-15 | 杭州艾芯智能科技有限公司 | Automatic exposure method, system, computer device and storage medium for depth camera |
| CN114697560A (en) * | 2020-12-31 | 2022-07-01 | 浙江舜宇智能光学技术有限公司 | Active exposure method based on TOF imaging system and exposure time calculation method |
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